CN108643651A - The vertical operation control system in automobile tower library and method - Google Patents
The vertical operation control system in automobile tower library and method Download PDFInfo
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- CN108643651A CN108643651A CN201810427912.5A CN201810427912A CN108643651A CN 108643651 A CN108643651 A CN 108643651A CN 201810427912 A CN201810427912 A CN 201810427912A CN 108643651 A CN108643651 A CN 108643651A
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- 238000005070 sampling Methods 0.000 claims abstract description 14
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 7
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 7
- 235000008434 ginseng Nutrition 0.000 claims description 7
- 238000010977 unit operation Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 abstract description 4
- 230000001105 regulatory effect Effects 0.000 abstract description 4
- 230000009466 transformation Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000009193 crawling Effects 0.000 description 7
- 230000005611 electricity Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
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- Mechanical Engineering (AREA)
- Elevator Control (AREA)
Abstract
The present invention provides a kind of vertical operation control system in automobile tower library and method, the vertical operation control system includes positioning device and control device, and the control device includes operation control unit, sampling unit and adjustment unit, wherein：The positioning device, for the position real time output according to the vertical carrying platform；The operation control unit drives the vertical carrying platform by speed planning curve motion for controlling the motor；The sampling unit, the current location for obtaining the vertical carrying platform in real time and the current speed of service；The adjustment unit, for according to the current location, the current speed of service and parameter preset, adjusting the speed planning curve in real time.The present invention realizes that the stop of vertical carrying platform controls by speed planning curve, and planning curve of being regulated the speed in real time according to the position of vertical carrying platform, so that vertical carrying platform is more steady in velocity transformation and operational efficiency is higher.
Description
Technical field
The present invention relates to the fields automobile Ta Ku, more specifically to a kind of vertical operation control system in automobile tower library and
Method.
Background technology
With the promotion of people's living standard, car ownership is all increased with fast speed every year, to parking stall
Demand is also increasing.For large- and-medium size cities, since car ownership is big and shortage of land resource, it is desirable that taking up an area in garage parking
Parking stalls more as possible is provided in the case that area is small, and requires these parking stalls that there is higher Transport Vehicle efficiency.
Automobile tower library can provide more parking stall since floor space is small by increasing the number of plies, be a kind of more satisfactory selection
Scheme, at present the automobile tower library of mainstream have comb-teeth-type tower garage and lift plate interactive mode tower library.In above-mentioned two classes tower library, entire tower library by
Rotating part, traversing part and vertical component composition.During bicycle parking, first automobile is sent to corresponding parking stall building by vertical component
Layer, then vehicle is then connected to corresponding parking stall by traversing part；When picking up the car, then first vehicle is sent to vertical component, so by traversing part
Vertical component, which is responsible for sending vehicle to bottom, afterwards gives rotating part, and rotating part, which then executes, turns headstock operation.
In above-mentioned tower library, vertical component be presently mainly using PLC (Programmable Logic Controller,
Programmable logic controller (PLC)) control frequency converter carry out driving motor, pass through adjust multistage speed realize opened loop control.
However, when vertical component carries out the control of multistage speed, mainly with destination last layer (downlink) or next layer (on
Row) leveling switch is as speed switching point, thus creep causes operational efficiency relatively low apart from longer, and vertical fortune when speed switching
Carrying platform (i.e. vertical support plate) shake is larger.
Invention content
The technical problem to be solved in the present invention is, is stopped for vertical component in above-mentioned automobile tower library less efficient, fast
Support plate shakes larger problem when degree switching, provides a kind of vertical operation control system in automobile tower library and method.
The technical solution that the present invention solves above-mentioned technical problem is to provide a kind of vertical operation control system in automobile tower library,
Automobile tower library includes hoistway and the traversing parking position positioned at the hoistway both sides, and motor is equipped in the hoistway and is hung down
To carrying platform, and the vertical carrying platform vertical operation in the hoistway under motor driving, which is characterized in that
The system comprises positioning devices and control device, and the control device includes operation control unit, sampling unit and tune
Whole unit, wherein：
The positioning device, for the position real time output according to the vertical carrying platform；
The operation control unit, for control the motor drive the vertical carrying platform by speed planning curve by
Initial position runs to target stop position, and the speed planning curve is according to the initial position, target stop position and pre-
Setting parameter generates；
The sampling unit, for obtaining the vertical carrying platform in real time according to the output signal of the positioning device
Current location and the current speed of service；
The adjustment unit, for according to the current location, the current speed of service and parameter preset, adjusting institute in real time
State speed planning curve.
In the vertical operation control system in automobile tower of the present invention library, the positioning device includes being installed in the electricity
Encoder on machine, the sampling unit obtain the vertical carrying platform in hoistway according to the output signal of the encoder
Current location and the current speed of service.
In the vertical operation control system in automobile tower of the present invention library, the positioning device includes being installed in the well
Leveling switch in road and be installed on the vertical carrying platform and with the associated ductor of the leveling switch；The tune
Whole unit corrects institute when the ductor each time passes through any leveling switch, according to the output signal of the ductor
State current location.
In the vertical operation control system in automobile tower of the present invention library, the parameter preset includes bicycle parking uplink ginseng
Number, bicycle parking downstream parameter, pick-up uplink parameter and pick-up downstream parameter；
The speed planning curve includes bicycle parking uplink curve, bicycle parking downlink curve, pick-up uplink curve and pick-up downlink
Curve, and the bicycle parking uplink curve is generated according to the initial position, target stop position and bicycle parking uplink parameter, it is described to deposit
Vehicle downlink curve is generated according to the initial position, target stop position and bicycle parking downstream parameter, the pick-up uplink curve root
It is generated according to the initial position, target stop position and pick-up uplink parameter, the pick-up downlink curve is according to the start bit
It sets, target stop position and pick-up downstream parameter generate；
The control device includes the instruction reception unit for receiving bicycle parking or instruction of picking up the car；The operation control unit
It is controlled when described instruction receiving unit receives bicycle parking instruction and the vertical carrying platform uplink described in the motor driving
Vertical carrying platform runs to target stop position by the bicycle parking uplink curve by initial position；The operation control unit exists
Described instruction receiving unit controls the motor driving when receiving bicycle parking instruction and the vertical carrying platform downlink described vertical
Target stop position is run to by initial position by the bicycle parking downlink curve to carrying platform；The operation control unit is in institute
State that instruction reception unit receives pick-up instruction and to control the motor driving described vertical when vertical carrying platform uplink
Carrying platform runs to target stop position by the pick-up uplink curve by initial position；The operation control unit is described
Instruction reception unit controls the motor when receiving pick-up instruction and the vertical carrying platform downlink and drives the vertical fortune
Carrying platform runs to target stop position by the pick-up downlink curve by initial position.
In the vertical operation control system in automobile tower of the present invention library, the bicycle parking uplink parameter includes the first acceleration
Time, peak acceleration, the second acceleration time, maximum operational speed, the first deceleration time, maximum deceleration, second are slowed down
Time；
The bicycle parking downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time, the first creep speed, the first crawl time；
The pick-up uplink parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time, the second creep speed, the second crawl time；
The pick-up downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time, third creep speed, third crawl time.
The present invention also provides a kind of vertical progress control method in automobile tower library, automobile tower library includes hoistway and is located at
The traversing parking position of the hoistway both sides, the hoistway is interior to be equipped with motor and vertical carrying platform, and the vertical delivery is flat
Platform vertical operation in the hoistway under motor driving, the method includes：
Controlling the motor by controller drives the vertical carrying platform to be transported by initial position by speed planning curve
Row arrives target stop position, and the speed planning curve is generated according to initial position, target stop position and parameter preset；
Current location and current operation of the vertical carrying platform in hoistway are obtained in real time by the controller
Speed, and according to the current location, the current speed of service and parameter preset, the speed planning curve is adjusted in real time.
In the vertical progress control method in automobile tower of the present invention library, encoder is installed on the motor, it is described
Controller obtains current location of the vertical carrying platform in hoistway and current according to the output signal of the encoder
The speed of service.
In the vertical progress control method in automobile tower of the present invention library, leveling switch, institute are installed in the hoistway
State be installed on vertical carrying platform with the associated ductor of the leveling switch, it is described to adjust the speed planning curve in real time
Including：
When the ductor each time passes through any leveling switch, the controller is defeated according to the ductor
Go out current location described in signal correction.
In the vertical progress control method in automobile tower of the present invention library, the parameter preset includes bicycle parking uplink ginseng
Number, bicycle parking downstream parameter, pick-up uplink parameter and pick-up downstream parameter；
The speed planning curve includes bicycle parking uplink curve, bicycle parking downlink curve, pick-up uplink curve and pick-up downlink
Curve, and the bicycle parking uplink curve is generated according to the initial position, target stop position and bicycle parking uplink parameter, it is described to deposit
Vehicle downlink curve is generated according to the initial position, target stop position and bicycle parking downstream parameter, the pick-up uplink curve root
It is generated according to the initial position, target stop position and pick-up uplink parameter, the pick-up downlink curve is according to the start bit
It sets, target stop position and pick-up downstream parameter generate；
The control motor drives the vertical carrying platform to run to mesh by initial position by speed planning curve
Marking stop position includes：
Receive bicycle parking or instruction of picking up the car；
The motor, which is controlled, when receiving bicycle parking instruction and the vertical carrying platform uplink drives the vertical delivery
Platform runs to target stop position by bicycle parking uplink curve by initial position；Receiving bicycle parking instruction and the vertical delivery
The motor is controlled when platform downlink drives the vertical carrying platform to run to target by initial position by bicycle parking downlink curve
Stop position；The motor, which is controlled, when receiving pick-up instruction and the vertical carrying platform uplink drives the vertical delivery
Platform runs to target stop position by pick-up uplink curve by initial position；Receiving pick up the car instruction and the vertical delivery
The motor is controlled when platform downlink drives the vertical carrying platform to run to target by initial position by pick-up downlink curve
Stop position.
In the vertical progress control method in automobile tower of the present invention library, the bicycle parking uplink parameter includes the first acceleration
Time, peak acceleration, the second acceleration time, maximum operational speed, the first deceleration time, maximum deceleration, second are slowed down
Time；
The bicycle parking downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time, the first creep speed, the first crawl time；
The pick-up uplink parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time, the second creep speed, the second crawl time；
The pick-up downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time, third creep speed, third crawl time.
It is described the present invention also provides a kind of vertical operation control system in automobile tower library, including storage device and processing unit
The code for processing unit operation is stored in storage device, to execute method as described above.
The vertical operation control system in automobile tower library and method of the present invention realizes that vertical delivery is flat by speed planning curve
The stop of platform controls, and planning curve of being regulated the speed in real time according to the position of vertical carrying platform, so that vertical delivery is flat
Platform is more steady in velocity transformation and operational efficiency is higher.
Description of the drawings
Fig. 1 is the schematic diagram of the vertical operation control system embodiment in automobile tower of the present invention library；
Fig. 2 is the schematic diagram of control device embodiment in the vertical operation control system in automobile tower of the present invention library；
Fig. 3 is the schematic diagram of the vertical operation control system medium velocity planning curve in automobile tower of the present invention library；
Fig. 4 is the schematic diagram of bicycle parking downlink curve in the vertical operation control system in automobile tower of the present invention library；
Fig. 5 is the schematic diagram of pick-up uplink curve in the vertical operation control system in automobile tower of the present invention library；
Fig. 6 is the schematic diagram of pick-up downlink curve in the vertical operation control system in automobile tower of the present invention library；
Fig. 7 is the schematic diagram of the vertical progress control method embodiment flow in automobile tower of the present invention library.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, 2, it is the schematic diagram of the vertical operation control system embodiment in automobile tower of the present invention library, the automobile tower library
It can be used for realizing that motor vehicle space, multilayer are parked.Automobile tower library in the present embodiment includes hoistway 1 and multiple traversing parking positions 2,
Above-mentioned multiple traversing parking positions 2 are in Multi-layers distributing in the both sides of hoistway 1.Vertical carrying platform 3 and electricity are equipped in above-mentioned hoistway 1
Machine 4, and the vertical operation (i.e. uplink and downlink) in hoistway 1 under the driving of motor 4 of vertical carrying platform 3.Specifically, above-mentioned electricity
Three-phase synchronous motor can be used in machine 4, and dragging vertical carrying platform 3 by transmission component (such as traction sheave, steel wire rope etc.) exists
It is run between the bottom and destination layer of hoistway 1.Vertical carrying platform 3, which can be used for carrying, to be waited parking or vehicle to be extracted.In addition,
To save power consumption, clump weight, and the weight of the weight of clump weight and vehicle can be increased in above-mentioned vertical operation control system
Amount is close to or slightly greater than the weight of vehicle.
Vertical operation control system in the present embodiment further includes positioning device and control device 5, and wherein positioning device is used
In the position output position signal according to vertical carrying platform 3.Integrated controller can be used in control device 5, is used to control
Motor 4 is run, which specifically includes operation control unit 51, adjustment unit 52 and sampling unit 53, above-mentioned operation
Control unit 51, adjustment unit 52 and sampling unit 53 are specifically in combination with the software realization operated in control device 5.
Above-mentioned operation control unit 51 drives vertical carrying platform 3 by speed planning curve by originating for controlling motor 4
Position runs to target stop position, such as in parking, parking tier is run to by bottom；When picking up the car, run by parking tier
To bottom.Above-mentioned speed planning curve can give birth to according to the initial position of vertical carrying platform 3, target stop position and parameter preset
At.
Particularly, in 3 light condition of vertical carrying platform, (such as after the completion of vehicle parking, vertical carrying platform 3 returns to well
When road bottom；Or when picking up the car, vertical carrying platform 3 is risen to the landing of vehicle by bottom) and non-light condition (such as
When vehicle parking, vertical carrying platform 3, which will wait parking cars, to be lifted to target from the bottom of hoistway 1 and parks layer；Or when picking up the car,
Vertical carrying platform 3 will wait picking up the car from the bottom for parking layer and being transported to hoistway 1), operation control unit 51 can be used different
The operation of the vertical carrying platform of speed planning curve controlled 3, to improve the efficiency of vehicle access while ensureing safe.Example
Such as, when vertical carrying platform 3 is in light condition, the speed planning curve with higher conevying efficiency can be used, and hanging down
When being in non-light condition to carrying platform 3, then more stable speed planning curve can be used.
Sampling unit 53 be used for the signal that export according to positioning device obtain in real time the current location of vertical carrying platform with
The current speed of service.It current location that adjustment unit 52 is used to be obtained according to sampling unit 53, the current speed of service and presets
Parameter, planning curve of regulating the speed in real time.So as to adjust the operation of vertical carrying platform 3 in real time, ensure vertical carrying platform 3
Velocity transformation is more steady.
Specifically, above-mentioned positioning device may include encoder, which is attached to motor 4 and defeated according to the rotation of motor
Go out pulse signal.Sampling unit 53 generates current location and the current speed of service according to the pulse signal of encoder output.
Since motor 4 is in dragging vertical 3 operational process of carrying platform, steel wire rope is easy to skid, to cause encoder
Output pulse and the physical location of vertical carrying platform 3 are not inconsistent.To solve the problems, such as this, above-mentioned automobile tower library vertical operation control system
System may also include be installed in hoistway 1 multiple leveling switch 6 (above-mentioned leveling switch 6 can be uniformly distributed in hoistway 1, with
The place layer of traversing parking position 2 can not correspond to) and be installed in ductor 7 on vertical carrying platform 3, above-mentioned ductor 7 with
Leveling switch 6 is associated with, i.e., ductor 7 passes through a leveling switch every time, will export a position signal.In this way, adjustment is single
Member 52 can be when ductor 7 each time be by any leveling switch 6, according to the output signal of ductor 7 to sampling unit 53
The current location of generation is modified (such as correspondence of the counting pulse and position of modification encoder).
Particularly, as shown in figure 3, the above-mentioned default ginseng for formation speed planning curve and planning curve of regulating the speed
Number includes the first acceleration time A, peak acceleration C, the second acceleration time B, maximum operational speed D, the first deceleration time E, most
Big negative acceleration G (negative) and the second deceleration time F.In speed planning curve, in the first acceleration time A, acceleration
It is raised to peak acceleration C by above freezing；In the second acceleration time B, vertical acceleration falls to zero (same speed per hour by peak acceleration
Degree reaches maximum speed D)；In the first deceleration time A, acceleration is reduced to maximum deceleration G by zero；Slow down second
In time F, acceleration is reduced to zero (while speed is kept to zero) by maximum deceleration G.It can be counted according to remaining range ability
It calculates with the time of maximum operational speed D operations, to form corresponding speed planning curve, you can according to vertical carrying platform 3
Remaining range ability adjust the time point of deceleration, to realizing the adjustment of speed planning curve.
Particularly, parameter preset may include two groups, such as the first parameter preset group and the second parameter preset group, for example, on
State the maximum operational speed that the maximum operational speed in the first parameter preset group is more than in the second parameter preset group；First default ginseng
The first acceleration time in array is less than the first acceleration time in the second parameter preset group；Second in first parameter preset group
Acceleration time is less than the second acceleration time in the second parameter preset group；Peak acceleration in first parameter preset group is more than the
Peak acceleration in two parameter preset groups；The first deceleration time in first parameter preset group is less than in the second parameter preset group
The first deceleration time；When the second deceleration time in first parameter preset group is less than the second deceleration in the second parameter preset group
Between；Maximum deceleration in first parameter preset group is less than the second negative acceleration in the second parameter preset group.When vertical fortune
When carrying platform 3 is unloaded, operation control unit 51 can be by the vertical fortune of speed planning curve controlled generated with the first parameter preset group
Carrying platform 3 is run；And when vertical carrying platform 3 is non-unloaded, operation control unit 51 can be generated by with the second parameter preset group
The vertical carrying platform 3 of speed planning curve controlled run.In this way, when vertical carrying platform 3 is unloaded, can faster run to pre-
Positioning is set.
In the above-mentioned vertical operation control system in automobile tower library, above-mentioned parameter preset can particularly may be divided into bicycle parking uplink ginseng
Number, bicycle parking downstream parameter, pick-up uplink parameter and pick-up downstream parameter.Correspondingly, speed planning curve includes bicycle parking uplink
Curve (as shown in Figure 3), bicycle parking downlink curve (as shown in Figure 4), pick-up uplink curve (as shown in Figure 5) and pick-up downlink curve
(as shown in Figure 6), and bicycle parking uplink curve is generated according to initial position, target stop position and bicycle parking uplink parameter, under bicycle parking
Row curve is generated according to initial position, target stop position and bicycle parking downstream parameter, and pick-up uplink curve is according to initial position, mesh
It marks stop position and pick-up uplink parameter generates, pick-up downlink curve is according to initial position, target stop position and pick-up downlink
Parameter generates.
Control device 5 includes the instruction reception unit for receiving bicycle parking or instruction of picking up the car, also, runs control unit 51
Bicycle parking instruction is received in instruction reception unit and control motor drives vertical carrying platform by depositing when vertical carrying platform uplink
Vehicle uplink curve runs to target stop position by initial position；Operation control unit 51 receives bicycle parking in instruction reception unit
Control motor drives vertical carrying platform to be run by initial position by bicycle parking downlink curve when instruction and vertical carrying platform downlink
To target stop position；Operation control unit 51 is when instruction reception unit receives pick-up instruction and vertical carrying platform uplink
Control motor drives vertical carrying platform to run to target stop position by initial position by pick-up uplink curve；Operation control is single
The control motor when instruction reception unit receives pick-up instruction and vertical carrying platform downlink of member 51 drives vertical carrying platform
Target stop position is run to by initial position by pick-up downlink curve.
Accordingly, adjustment unit 52 is when carrying out the adjustment of speed planning curve, also according to Transport Vehicle and uplink and downlink state tune
Whole deposit vehicle uplink curve, bicycle parking downlink curve, pick-up uplink curve or pick-up downlink curve.
Above-mentioned bicycle parking uplink parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time；Bicycle parking downstream parameter includes the first acceleration time, most greatly
Speed, the second acceleration time, maximum operational speed, the first deceleration time, maximum deceleration, the second deceleration time, first climb
Scanning frequency degree, the first crawl time, first creep acceleration；Pick-up uplink parameter includes the first acceleration time, peak acceleration, the
Two acceleration time, maximum operational speed, the first deceleration time, maximum deceleration, the second deceleration time, the second creep speed,
Second crawl time；Pick-up downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time, third creep speed, third crawl time.
By above-mentioned parameter, in bicycle parking downlink, as shown in figure 4, operation control unit 51, which controls motor 4, drives vertical fortune
Carrying platform 3 executes a crawling process H (the first creep speed of corresponding parameter, the first crawl time), in crawling process H,
Vertical carrying platform 3 is once interacted with 2 support plate of traversing parking position, and vehicle is made to be transferred to traversing pool from vertical carrying platform 3
The support plate of parking stall 2；In pick-up uplink, vertical carrying platform 3 is driven to hold as shown in figure 5, operation control unit 51 controls motor 4
One crawling process I of row (the second creep speed of corresponding parameter, the second crawl time), in crawling process I, vertical delivery is flat
Platform 3 is once interacted with 2 support plate of traversing parking position, and vehicle is made to be transferred to the load of vertical carrying platform 3 from traversing parking position 2
Plate；In pick-up downlink, the execution of vertical carrying platform 3 one is driven to climb as shown in fig. 6, operation control unit 51 controls motor 4
Row process J (corresponding parameter third creep speed, third crawl time), in crawling process J, vertical carrying platform 3 and rotation
Turn 8 support plate of platform once to be interacted, vehicle is made to be transferred to rotating platform 8 from vertical carrying platform, i.e., vertical carrying platform 3 is transported
Row rotates 180 ° to the lower section of rotating platform 8, and by 8 support vehicle of rotating platform.
It in the vertical operation control system in above-mentioned automobile tower library, may also include a detecting module, can recognize that headstock court
To.In pick-up downlink, in pick-up downlink, if detecting module detects outlet of the headstock towards automobile tower library, control is run
Unit 51 processed drives vertical carrying platform 3 to execute crawling process J without controlling motor 4, that is, is not necessarily to pass through rotating platform 8 by vehicle
180 ° of rotation；If detecting module detects outlet of the headstock backwards to automobile tower library, the drive of motor 4 need to be controlled by running control unit 51
Dynamic vertical carrying platform 3 executes crawling process J, i.e., vehicle is rotated 180 ° by rotating platform 8.
As shown in fig. 7, being the schematic diagram of the vertical progress control method embodiment in automobile tower of the present invention library, this method can be used for
The operation control of vertical carrying platform in automobile tower library.Above-mentioned automobile tower library includes hoistway and the traversing pool positioned at hoistway both sides
Parking stall, hoistway is interior to be equipped with motor and vertical carrying platform, and vertical carrying platform vertical fortune in hoistway under motor driving
Row.The vertical progress control method in automobile tower library in the present embodiment includes the following steps and (can be executed by control device)：
Step S71：The vertical carrying platform of control motor driving runs to target by initial position by speed planning curve and stops
By position, above-mentioned speed planning curve is generated according to initial position, target stop position and parameter preset.
Particularly, different speed planning curves can be used in vertical carrying platform light condition and non-light condition,
The operation that the vertical carrying platform of different speed planning curve controlleds 3 can be used, to improve vehicle while ensureing safe
The efficiency of access.For example, when vertical carrying platform 3 is in light condition, the speed with higher conevying efficiency can be used and advise
Tracing, and when vertical carrying platform 3 is in non-light condition, then more stable speed planning curve can be used.
The above-mentioned parameter preset for formation speed planning curve may include the first acceleration time A, peak acceleration C, the
Two acceleration time B, maximum operational speed D, the first deceleration time E, maximum deceleration G (negative) and the second deceleration time F.
In speed planning curve, in the first acceleration time A, acceleration is raised to peak acceleration C by above freezing；In the second acceleration time
In B, vertical acceleration fell to for zero (while speed reaches maximum speed D) by peak acceleration；In the first deceleration time A,
Acceleration is reduced to maximum deceleration G by zero；In the second deceleration time F, acceleration is reduced to by maximum deceleration G
Zero (while speed is kept to zero).Correspondingly, it is in the speed planning curve of light condition in vertical carrying platform and is in non-empty
The rate curve of load state can be generated according to different parameter presets is worth.
Step S72：Current location and the current speed of service of the vertical carrying platform in hoistway are obtained in real time.The step
It is realized in combination with the encoder installed on motor, controller obtains vertical carrying platform in hoistway according to the output signal of encoder
In current location and the current speed of service.
In addition, can also install leveling switch in hoistway, correspondingly, it is installed on vertical carrying platform and is closed with leveling switch
The ductor of connection, when ductor each time passes through any leveling switch, controller is worked as according to the output signal amendment of ductor
Front position.
Step S73：According to current location, the current speed of service and the parameter preset obtained in step S72, adjust in real time
Speed planning curve.
In the above-mentioned vertical progress control method in automobile tower library, parameter preset can particularly may be divided into bicycle parking uplink parameter,
Bicycle parking downstream parameter, pick-up uplink parameter and pick-up downstream parameter.Correspondingly, speed planning curve includes that bicycle parking uplink is bent
Line, bicycle parking downlink curve, pick-up uplink curve and pick-up downlink curve, and bicycle parking uplink curve stops according to initial position, target
It is generated by position and bicycle parking uplink parameter, bicycle parking downlink curve is according to initial position, target stop position and bicycle parking downstream parameter
Generate, pick-up uplink curve according to initial position, target stop position and pick-up uplink parameter generate, pick-up downlink curve according to
Initial position, target stop position and pick-up downstream parameter generate.
Correspondingly, above-mentioned steps S71 may also include receive bicycle parking or pick up the car instruction, also, receive bicycle parking instruction and
Motor is controlled when vertical carrying platform uplink drives vertical carrying platform to run to target by initial position by bicycle parking uplink curve
Stop position；Under when receiving bicycle parking instruction and vertical carrying platform downlink, the vertical carrying platform of control motor driving is by bicycle parking
Row curve runs to target stop position by initial position；The control electricity when receiving pick-up instruction and vertical carrying platform uplink
Machine drives vertical carrying platform to run to target stop position by initial position by pick-up uplink curve；Receiving instruction of picking up the car
And control motor drives vertical carrying platform to run to mesh by initial position by pick-up downlink curve when vertical carrying platform downlink
Mark stop position.
Above-mentioned bicycle parking uplink parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time；Bicycle parking downstream parameter includes the first acceleration time, most greatly
Speed, the second acceleration time, maximum operational speed, the first deceleration time, maximum deceleration, the second deceleration time, first climb
Scanning frequency degree, the first crawl time, first creep acceleration；Pick-up uplink parameter includes the first acceleration time, peak acceleration, the
Two acceleration time, maximum operational speed, the first deceleration time, maximum deceleration, the second deceleration time, the second creep speed,
Second crawl time；Pick-up downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operation speed
Degree, the first deceleration time, maximum deceleration, the second deceleration time, third creep speed, third crawl time.
It is described the present invention also provides a kind of vertical operation control system in automobile tower library, including storage device and processing unit
The code for processing unit operation is stored in storage device, to execute method as described above.
The present invention can effectively improve vertical carrying platform and operated steadily by the current location of the vertical carrying platform of amendment
Property and operational efficiency.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
Subject to.
Claims (11)
1. a kind of vertical operation control system in automobile tower library, automobile tower library includes hoistway and positioned at the hoistway both sides
Traversing parking position, the hoistway is interior to be equipped with motor and vertical carrying platform, and the vertical carrying platform drives in the motor
The vertical operation in the hoistway under dynamic, which is characterized in that the system comprises positioning device and control device, and the control
Device includes operation control unit, sampling unit and adjustment unit, wherein：
The positioning device, for the position real time output according to the vertical carrying platform；
The operation control unit drives the vertical carrying platform by speed planning curve by originating for controlling the motor
Position runs to target stop position, and the speed planning curve is according to the initial position, target stop position and default ginseng
Number generates；
The sampling unit, for obtaining the current of the vertical carrying platform in real time according to the output signal of the positioning device
Position and the current speed of service；
The adjustment unit, for according to the current location, the current speed of service and parameter preset, adjusting the speed in real time
Metric tracing.
2. the vertical operation control system in automobile tower according to claim 1 library, which is characterized in that the positioning device includes
The encoder being installed on the motor, the sampling unit obtain the vertical delivery according to the output signal of the encoder
Current location and the current speed of service of the platform in hoistway.
3. the vertical operation control system in automobile tower according to claim 2 library, which is characterized in that the positioning device includes
It the leveling switch that is installed in the hoistway and is installed on the vertical carrying platform and associated with the leveling switch
Ductor；The adjustment unit is when the ductor each time passes through any leveling switch, according to the ductor
Output signal corrects the current location.
4. the vertical operation control system in automobile tower according to claim 1 library, which is characterized in that the parameter preset includes
Bicycle parking uplink parameter, bicycle parking downstream parameter, pick-up uplink parameter and pick-up downstream parameter；
The speed planning curve includes bicycle parking uplink curve, bicycle parking downlink curve, pick-up uplink curve and pick-up downlink curve,
And the bicycle parking uplink curve is generated according to the initial position, target stop position and bicycle parking uplink parameter, under the bicycle parking
Row curve is generated according to the initial position, target stop position and bicycle parking downstream parameter, and the pick-up uplink curve is according to institute
It states initial position, target stop position and pick-up uplink parameter to generate, the pick-up downlink curve is according to the initial position, mesh
It marks stop position and pick-up downstream parameter generates；
The control device includes the instruction reception unit for receiving bicycle parking or instruction of picking up the car；The operation control unit is in institute
State that instruction reception unit receives bicycle parking instruction and to control the motor driving described vertical when vertical carrying platform uplink
Carrying platform runs to target stop position by the bicycle parking uplink curve by initial position；The operation control unit is described
Instruction reception unit controls the motor when receiving bicycle parking instruction and the vertical carrying platform downlink and drives the vertical fortune
Carrying platform runs to target stop position by the bicycle parking downlink curve by initial position；The operation control unit is in the finger
The motor, which is controlled, when receiving unit being enabled to receive pick-up instruction and the vertical carrying platform uplink drives the vertical delivery
Platform runs to target stop position by the pick-up uplink curve by initial position；The operation control unit is in described instruction
Receiving unit controls the motor and drives the vertical delivery flat when receiving pick-up instruction and the vertical carrying platform downlink
Platform runs to target stop position by the pick-up downlink curve by initial position.
5. the vertical operation control system in automobile tower according to claim 4 library, which is characterized in that the bicycle parking uplink parameter
Including the first acceleration time, peak acceleration, the second acceleration time, maximum operational speed, the first deceleration time, maximum negative acceleration
Degree, the second deceleration time；
The bicycle parking downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operational speed, the
One deceleration time, maximum deceleration, the second deceleration time, the first creep speed, the first crawl time；
The pick-up uplink parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operational speed, the
One deceleration time, maximum deceleration, the second deceleration time, the second creep speed, the second crawl time；
The pick-up downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operational speed, the
One deceleration time, maximum deceleration, the second deceleration time, third creep speed, third crawl time.
6. a kind of vertical progress control method in automobile tower library, automobile tower library includes hoistway and positioned at the hoistway both sides
Traversing parking position, the hoistway is interior to be equipped with motor and vertical carrying platform, and the vertical carrying platform drives in the motor
The vertical operation in the hoistway under dynamic, which is characterized in that the method includes：
Controlling the motor by controller drives the vertical carrying platform to be run to by initial position by speed planning curve
Target stop position, the speed planning curve are generated according to initial position, target stop position and parameter preset；
Current location and the current speed of service of the vertical carrying platform in hoistway are obtained in real time by the controller,
And according to the current location, the current speed of service and parameter preset, the speed planning curve is adjusted in real time.
7. the vertical progress control method in automobile tower according to claim 6 library, which is characterized in that be installed on the motor
Encoder, the controller obtain present bit of the vertical carrying platform in hoistway according to the output signal of the encoder
It sets and the current speed of service.
8. the vertical progress control method in automobile tower according to claim 7 library, which is characterized in that be installed in the hoistway
Leveling switch, be installed on the vertical carrying platform with the associated ductor of the leveling switch, described in the real-time adjustment
Speed planning curve includes：
When the ductor each time passes through any leveling switch, the controller is believed according to the output of the ductor
Number correct the current location.
9. the vertical progress control method in automobile tower according to claim 7 library, which is characterized in that the parameter preset includes
Bicycle parking uplink parameter, bicycle parking downstream parameter, pick-up uplink parameter and pick-up downstream parameter；
The speed planning curve includes bicycle parking uplink curve, bicycle parking downlink curve, pick-up uplink curve and pick-up downlink curve,
And the bicycle parking uplink curve is generated according to the initial position, target stop position and bicycle parking uplink parameter, under the bicycle parking
Row curve is generated according to the initial position, target stop position and bicycle parking downstream parameter, and the pick-up uplink curve is according to institute
It states initial position, target stop position and pick-up uplink parameter to generate, the pick-up downlink curve is according to the initial position, mesh
It marks stop position and pick-up downstream parameter generates；
The control motor driving vertical carrying platform runs to target by initial position by speed planning curve and stops
Include by position：
Receive bicycle parking or instruction of picking up the car；
The motor, which is controlled, when receiving bicycle parking instruction and the vertical carrying platform uplink drives the vertical carrying platform
Target stop position is run to by initial position by bicycle parking uplink curve；Receiving bicycle parking instruction and the vertical carrying platform
The motor is controlled when downlink drives the vertical carrying platform to run to target stop by initial position by bicycle parking downlink curve
Position；The motor, which is controlled, when receiving pick-up instruction and the vertical carrying platform uplink drives the vertical carrying platform
Target stop position is run to by initial position by pick-up uplink curve；Receiving pick up the car instruction and the vertical carrying platform
The motor is controlled when downlink drives the vertical carrying platform to run to target stop by initial position by pick-up downlink curve
Position.
10. the vertical progress control method in automobile tower according to claim 9 library, which is characterized in that the bicycle parking uplink ginseng
Number include the first acceleration time, peak acceleration, the second acceleration time, maximum operational speed, the first deceleration time, it is maximum negative plus
Speed, the second deceleration time；
The bicycle parking downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operational speed, the
One deceleration time, maximum deceleration, the second deceleration time, the first creep speed, the first crawl time；
The pick-up uplink parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operational speed, the
One deceleration time, maximum deceleration, the second deceleration time, the second creep speed, the second crawl time；
The pick-up downstream parameter includes the first acceleration time, peak acceleration, the second acceleration time, maximum operational speed, the
One deceleration time, maximum deceleration, the second deceleration time, third creep speed, third crawl time.
11. a kind of vertical operation control system in automobile tower library, which is characterized in that described to deposit including storage device and processing unit
The code for processing unit operation is stored in storage device, to execute the side as described in any one of claim 6-10
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810427912.5A CN108643651A (en) | 2018-05-07 | 2018-05-07 | The vertical operation control system in automobile tower library and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810427912.5A CN108643651A (en) | 2018-05-07 | 2018-05-07 | The vertical operation control system in automobile tower library and method |
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| CN108643651A true CN108643651A (en) | 2018-10-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114263383A (en) * | 2021-11-26 | 2022-04-01 | 云南昆船智能装备有限公司 | Multi-shaft driven vertical lifting leveling system |
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